Planning System and Navigation System for an Ablation Procedure

• US 20130317363A1
• Filed: 05/22/2012
• Published: 11/28/2013
• Est. Priority Date: 05/22/2012
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Vivant Medical, Inc. (Johnson Controls International plc)
• Inventors: Case, Jason A., Frank, Kevin, Ladtkow, Casey M.
• Granted Patent: US 9,439,627 B2
• Time in Patent Office: Days
• US Class Current: 600/439
• CPC Class Codes: A61B 18/1477 Needle-like probes
• CPC Class Codes: A61B 18/1815 using microwaves
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2018/00577 Ablation
• CPC Class Codes: A61B 2034/104 Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/0463 against cooling or freezing
• CPC Class Codes: A61B 2090/0472 against ultrasound energy
• CPC Class Codes: A61B 2090/0481 against EM radiation, e.g. microwave
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 8/0841 for locating instruments
• CPC Class Codes: A61B 8/4263 : using sensors not mounted on the probe, e.g. mounted on an external reference frame
• CPC Class Codes: A61B 8/4444 : related to the probe
• CPC Class Codes: A61B 8/463 : characterised by displaying multiple images or images and diagnostic data on one display composite display in devices for short-range imaging with acoustic waves G01S7/52074
• CPC Class Codes: A61B 8/465 : adapted to display user selection data, e.g. icons or menus
• CPC Class Codes: A61B 8/466 : adapted to display 3D data 3D imaging and stereoscopic displays in devices for short-range imaging with acoustic waves G01S15/8993 and G01S7/52068, respectively; 3D image rendering G06T15/00; manipulating 3D models for computer graphics G06T19/00
• CPC Class Codes: A61B 8/467 : characterised by special input means
• CPC Class Codes: A61B 8/483 : involving the acquisition of a 3D volume of data
• CPC Class Codes: A61B 8/565 : involving data transmission via a network
• CPC Class Codes: A61B 90/04 : Protection of tissue around surgical sites against effects of non-mechanical surgery, e.g. laser surgery protection of eyes against laser radiation A61F9/022

Abstract

The present disclosure is directed to an ablation planning and navigation system. The planning system includes a memory configured to store a plurality of images and a controller configured to render the plurality of images in three dimensions, automatically segment the plurality of images to demarcate a target area, and automatically determine a treatment plan based on the target area. The navigation system includes an ultrasound device having a fiducial pattern that obtains an ultrasound image, an ablation needle having a image capture device that captures an image of the fiducial pattern, and a controller that receives the ultrasound image and the fiducial image. The controller determines a position of the ablation needle based on the fiducial image. The planning and navigation system also includes a controller that receives data from the planning system and the navigation system and a display configured to display the received information.

Claims

1. An ablation planning and navigation system, comprising:

a planning system including;

a memory configured to store a plurality of images; and

a first controller configured to render the plurality of images in three dimensions, segment the plurality of images to demarcate a target area, and automatically determine a treatment plan based on the target area; and

a navigation system including;

an ultrasound device configured to obtain an ultrasound image in a scan plane, the ultrasound device having a fiducial pattern disposed thereon;

an ablation needle having an image capture device configured to capture a fiducial image of the fiducial pattern; and

a second controller configured to receive the ultrasound image and the fiducial image, wherein the controller determines a position of the ablation needle in relation to the scan plane based on the fiducial image;

a third controller configured to receive the rendered plurality of images, the target area, the treatment plan, the ultrasound image, and the position of the ablation needle in relation to the scan plane; and

a display configured to display a first display having the rendered plurality of images, the target area, and the treatment plan and configured to display a second display having the ultrasound image, a virtual image of the ablation needle based on the position of the ablation needle in relation to the scan plane, and the treatment plan.

2. The planning and navigation system of claim 1, wherein the first display and the second display are displayed on a single screen.

3. The planning and navigation system of claim 2, wherein the first display and second display are displayed simultaneously.

4. The planning and navigation system of claim 2, wherein a user can switch between the first display and the second display.

5. The planning and navigation system of claim 1, wherein the display has two screens and the first display is displayed on a first screen and the second display is displayed on a second screen.

6. The planning and navigation system of claim 1, wherein the first controller performs a volumetric analysis to determine a treatment plan.

7. The planning and navigation system of claim 1, further comprising an input device configured to adjust the treatment plan.

8. The planning and navigation system of claim 1, wherein the display provides a graphical user interface.

9. The planning and navigation system of claim 1, wherein the first controller segments at least one vessel and adjusts the treatment plan based on the proximity of the at least one vessel to the target.

10. The planning and navigation system of claim 1, wherein the first controller segments at least one organ and adjusts the treatment plan based on a position of the target in relation to the at least one organ.

11. The planning and navigation system of claim 1, wherein the fiducial pattern is affixed to a known location on the ultrasound device.

12. The planning and navigation system of claim 1, wherein the image capture device is affixed to a known location on the ablation needle.

13. The planning and navigation system of claim 1, wherein the fiducial pattern has a plurality of markings of known characteristics and relative positions.

14. The planning and navigation system of claim 1, wherein the fiducial pattern includes a plurality of markings of known characteristics and relative positions that reside within a known topology.

15. The planning and navigation system of claim 1, wherein the second controller corresponds the fiducial image to a model image, estimates a camera pose, and transforms the ablation needle to model coordinates.

16. The planning and navigation system of claim 12, wherein the second controller corrects the fiducial image for lens distortion.

17. The planning and navigation system of claim 1, wherein the second controller can recognize a topology within the fiducial marker where the topology references two or more independent unique identifiers located in known positions on a single pattern on a marker.